diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index e1e42a8..adcba3c 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/log/死机日志.log b/log/死机日志.log
new file mode 100644
index 0000000..b6cdf24
--- /dev/null
+++ b/log/死机日志.log
@@ -0,0 +1,164 @@
+00188266 INFO [SMTP2 ] tx:/1N2v0R
+00188293 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00188294 INFO [SMTP2 ] tx:/1N2c287100R
+00188349 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00188350 INFO [SMTP2 ] pump_enable_temp_compensation 0
+00188351 INFO [SMTP2 ] tx:/1u24,0R
+00188403 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00188404 INFO [SMTP2 ] tx:/1K0R
+00188449 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00188450 INFO [PipetteModuleV2] <- call success
+00188467 INFO [PipetteModuleV2] m82 bfcall kpipette_aspirate(75000) ->
+00188478 INFO [PipetteModuleV2] <- call success
+00188479 INFO [PipetteModuleV2] start work -> pipette_aspirate
+00188480 INFO [SMTP2 ] pump_aspirate 75000
+00188481 INFO [SMTP2 ] tx:/1?3
+00188503 INFO [SMTP2 ] rx:(12) (2F3060313439393839030D0A) /0`149989
+
+00188504 INFO [SMTP2 ] pump_move_to_nl 224989
+00188505 INFO [SMTP2 ] tx:/1T
+00188518 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00188519 INFO [SMTP2 ] tx:/1CR
+00188527 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00188528 INFO [SMTP2 ] tx:/1V31900A224989R
+00188552 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00188553 INFO [PipetteModuleV2] zm_move_to 300 10
+00190998 INFO [SMTP2 ] tx:/1TR
+00191013 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00191014 INFO [SMTP2 ] tx:/1TR
+00191029 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00191030 INFO [PipetteModuleV2] <- end work
+00191069 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to(0) ->
+00191089 INFO [PipetteModuleV2] <- call success
+00191090 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to
+00191091 INFO [PipetteModuleV2] zm_move_to 0 1500
+00191466 INFO [SMTP2 ] tx:/1TR
+00191481 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00191482 INFO [PipetteModuleV2] <- end work
+00191646 INFO [PipetteModuleV2] m82 bfcall kmodule_get_reg(4102) ->
+00191647 INFO [PipetteModuleV2] <- call success
+00191664 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_read_zero_point_state ->
+00191665 INFO [PipetteModuleV2] <- call success
+00191682 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_read_zero_point_state ->
+00191683 INFO [PipetteModuleV2] <- call success
+00192687 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_enable(1) ->
+00192689 INFO [PipetteModuleV2] <- call success
+00192725 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to(50) ->
+00192727 INFO [PipetteModuleV2] <- call success
+00192728 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to
+00192729 INFO [PipetteModuleV2] zm_move_to 50 1500
+00192891 INFO [SMTP2 ] tx:/1TR
+00192906 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00192907 INFO [PipetteModuleV2] <- end work
+00192990 INFO [PipetteModuleV2] m82 bfcall kliquid_operation_clear_params ->
+00192991 INFO [PipetteModuleV2] <- call success
+00193010 INFO [PipetteModuleV2] m82 bfcall kliquid_operation_set_gun_runparams(14,14,0,1000,8000) ->
+00193011 INFO [PipetteModuleV2] <- call success
+00193027 INFO [PipetteModuleV2] m82 bfcall kliquid_operation_fresh_params ->
+00193028 INFO [PipetteModuleV2] liquid_operation_runparam:
+00193029 INFO [PipetteModuleV2] pump_acc :14
+00193030 INFO [PipetteModuleV2] pump_dec :14
+00193031 INFO [PipetteModuleV2] pump_vstart :0
+00193032 INFO [PipetteModuleV2] pump_vstop :1000
+00193033 INFO [PipetteModuleV2] pump_vmax :8000
+00193034 INFO [PipetteModuleV2] zmotor_posmin :0
+00193035 INFO [PipetteModuleV2] zmotor_posmax :0
+00193036 INFO [PipetteModuleV2] zmotor_vmax :0
+00193037 INFO [PipetteModuleV2] lld_enable_record_data :0
+00193038 INFO [SMTP2 ] tx:/1L14,14R
+00193058 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00193059 INFO [SMTP2 ] tx:/1N2v0R
+00193086 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00193087 INFO [SMTP2 ] tx:/1N2c319000R
+00193191 INFO [SMTP2 ] rx:(0) ()
+00193212 INFO [SMTP2 ] tx:/1N2c319000R
+00193316 INFO [SMTP2 ] rx:(0) ()
+00193337 INFO [SMTP2 ] tx:/1N2c319000R
+00193441 INFO [SMTP2 ] rx:(0) ()
+00193462 ERRO [PipetteModuleV2] [366] do m_smtp2.pump_set_vstop(liquid_operation_runparam.pump_vstop) fail, error kdevice_is_offline(1105)
+00193463 INFO [PipetteModuleV2] <- call fail,kdevice_is_offline(1105)
+00240684 INFO [PipetteModuleV2] m82 bfcall kmodule_get_reg(4002) ->
+00240685 INFO [SMTP2 ] tx:/1?31
+00240710 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00240711 INFO [PipetteModuleV2] <- call success
+00240779 INFO [PipetteModuleV2] m82 bfcall kmodule_get_reg(4102) ->
+00240780 INFO [PipetteModuleV2] <- call success
+00240797 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_read_zero_point_state ->
+00240798 INFO [PipetteModuleV2] <- call success
+00240813 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to_zero_point_quick ->
+00240830 INFO [PipetteModuleV2] <- call success
+00240831 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to_zero_point_quick
+00240832 INFO [PipetteModuleV2] zm_move_to 0 1500
+00241002 INFO [PipetteModuleV2] leave from zero
+00241003 INFO [TMC5130 ] moveToEnd 1 100
+00241019 INFO [PipetteModuleV2] move to again
+00241020 INFO [TMC5130 ] moveToEnd -1 200
+00241047 INFO [SMTP2 ] tx:/1TR
+00241062 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00241063 INFO [PipetteModuleV2] <- end work
+00241096 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_read_zero_point_state ->
+00241097 INFO [PipetteModuleV2] <- call success
+00242225 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_enable(1) ->
+00242231 INFO [PipetteModuleV2] <- call success
+00242247 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to_zero_point_quick ->
+00242250 INFO [PipetteModuleV2] <- call success
+00242251 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to_zero_point_quick
+00242252 INFO [PipetteModuleV2] zm_move_to 0 1500
+00242278 INFO [PipetteModuleV2] move to zero
+00242279 INFO [TMC5130 ] moveToEnd -1 200
+00242305 INFO [PipetteModuleV2] leave from zero
+00242306 INFO [TMC5130 ] moveToEnd 1 100
+00242322 INFO [PipetteModuleV2] move to again
+00242323 INFO [TMC5130 ] moveToEnd -1 200
+00242350 INFO [SMTP2 ] tx:/1TR
+00242365 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00242366 INFO [PipetteModuleV2] <- end work
+00242400 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_move_to(545) ->
+00242415 INFO [PipetteModuleV2] <- call success
+00242416 INFO [PipetteModuleV2] start work -> pipette_zmotor_move_to
+00242417 INFO [PipetteModuleV2] zm_move_to 545 1500
+00243001 INFO [SMTP2 ] tx:/1TR
+00243016 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00243017 INFO [PipetteModuleV2] <- end work
+00243146 INFO [PipetteModuleV2] m82 bfcall kpipette_zmotor_enable(1) ->
+00243156 INFO [PipetteModuleV2] <- call success
+00243190 INFO [PipetteModuleV2] m82 bfcall kpipette_init_device ->
+00243194 INFO [PipetteModuleV2] <- call success
+00243195 INFO [PipetteModuleV2] start work -> pipette_init_device
+00243196 INFO [SMTP2 ] pump_set_io1_mode 0
+00243197 INFO [SMTP2 ] tx:/1u9,0R
+00243215 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00243216 INFO [SMTP2 ] pump_set_io2_mode 0
+00243217 INFO [SMTP2 ] tx:/1u10,0R
+00243247 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00243248 INFO [SMTP2 ] pump_set_tip_size 1
+00243249 INFO [SMTP2 ] tx:/1u18,1R
+00243279 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
+
+00243280 INFO [SMTP2 ] tx:/1T
+00243308 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00243309 INFO [SMTP2 ] tx:/1CR
+00243317 INFO [SMTP2 ] rx:(6) (2F3060030D0A) /0`
+
+00243318 INFO [SMTP2 ] tx:/1N2V2552000ZR
+00243341 INFO [SMTP2 ] rx:(6) (2F3040030D0A) /0@
diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index 0c97de0..ca4d489 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -221,7 +221,7 @@ int32_t PipetteModuleV2::pipette_zmotor_enable(int32_t enable) {
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_move_zero() { //
- THREAD_START_WORK([this]() {
+ thread_start_work(__FUNCTION__, [this]() {
do_zm_move_0p(); // 移动到零点
zm_set_now_pos(0 + m_cfg.zm_dzero - m_cfg.zm_io_trigger_append_distance);
m_state.has_move_to_zero = 1;
@@ -235,7 +235,7 @@ int32_t PipetteModuleV2::pipette_zmotor_move_zero() { //
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_measure_distance() {
- THREAD_START_WORK([this]() {
+ thread_start_work(__FUNCTION__, [this]() {
int32_t startpos = zm_get_now_pos();
do_zm_move_0p(); // 移动到零点
int32_t dpos = zm_get_now_pos() - startpos;
@@ -265,7 +265,7 @@ int32_t PipetteModuleV2::pipette_zmotor_read_measure_distance_result(int32_t *re
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_move_by(int32_t distance) {
- THREAD_START_WORK([this, distance]() {
+ thread_start_work(__FUNCTION__, [this, distance]() {
module_active_cfg();
zm_move_by(distance, m_cfg.zm_default_velocity);
zm_waitfor_stop();
@@ -282,7 +282,7 @@ int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t tox) {
if (m_cfg.zm_min_d != 0 && tox < m_cfg.zm_min_d) tox = m_cfg.zm_min_d;
if (m_cfg.zm_max_d != 0 && tox > m_cfg.zm_max_d) tox = m_cfg.zm_max_d;
- THREAD_START_WORK([this, tox]() {
+ thread_start_work(__FUNCTION__, [this, tox]() {
zm_move_to(tox, m_cfg.zm_default_velocity);
zm_waitfor_stop();
});
@@ -295,7 +295,7 @@ int32_t PipetteModuleV2::pipette_zmotor_move_to(int32_t tox) {
* @return int32_t
*/
int32_t PipetteModuleV2::pipette_zmotor_move_to_zero_point_quick() {
- THREAD_START_WORK([this]() { do_pipette_zmotor_move_to_zero_point_quick(); });
+ thread_start_work(__FUNCTION__, [this]() { do_pipette_zmotor_move_to_zero_point_quick(); });
return 0;
}
@@ -364,25 +364,26 @@ int32_t PipetteModuleV2::liquid_operation_fresh_params() {
DO(m_smtp2.pump_set_acc_and_dec(liquid_operation_runparam.pump_acc, liquid_operation_runparam.pump_dec));
DO(m_smtp2.pump_set_vstart(liquid_operation_runparam.pump_vstart));
DO(m_smtp2.pump_set_vstop(liquid_operation_runparam.pump_vstop));
- DO(m_smtp2.pump_set_io1_mode(0)); // lld输入高
- DO(m_smtp2.pump_set_io2_mode(0)); // 通用输入
- DO(m_smtp2.pump_set_tip_size(1)); // 250ul
+
DO(m_smtp2.pump_enable_temp_compensation(0)); // 关闭温度补偿
- DO(m_smtp2.write_cmd("/1K0R\r")); // 设置背隙为0
+ DO(m_smtp2.pump_set_back_clearance(0)); // 设置背隙为0
return 0;
}
int32_t PipetteModuleV2::pipette_init_device() {
- THREAD_START_WORK([this]() {
+ thread_start_work(__FUNCTION__, [this]() {
DO_IN_THREAD(m_smtp2.pump_init(liquid_operation_runparam.pump_vmax));
pump_waitfor_stop();
+ DO_IN_THREAD(m_smtp2.pump_set_io1_mode(0)); // lld输入高
+ DO_IN_THREAD(m_smtp2.pump_set_io2_mode(0)); // 通用输入
+ DO_IN_THREAD(m_smtp2.pump_set_tip_size(1)); // 250ul
});
return 0;
}
int32_t PipetteModuleV2::pipette_put_tip() {
- THREAD_START_WORK([this]() {
+ thread_start_work(__FUNCTION__, [this]() {
DO_IN_THREAD(m_smtp2.pump_put_tip());
pump_waitfor_stop();
});
@@ -390,7 +391,7 @@ int32_t PipetteModuleV2::pipette_put_tip() {
}
int32_t PipetteModuleV2::pipette_pump_move_to(int32_t nl) {
- THREAD_START_WORK([this, nl]() {
+ thread_start_work(__FUNCTION__, [this, nl]() {
int32_t pumpv = liquid_operation_runparam.pump_vmax;
DO_IN_THREAD(m_smtp2.pump_move_to_nl(pumpv, nl));
pump_waitfor_stop();
@@ -494,7 +495,7 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t nl) {
return err::kparam_out_of_range;
}
- THREAD_START_WORK([this, nl]() {
+ thread_start_work(__FUNCTION__, [this, nl]() {
int32_t llfrpm = liquid_operation_runparam.zmotor_vmax;
int32_t llftpos = liquid_operation_runparam.zmotor_posmax;
int32_t pumpv = liquid_operation_runparam.pump_vmax;
@@ -517,7 +518,7 @@ int32_t PipetteModuleV2::pipette_distribu(int32_t nl) {
return err::kparam_out_of_range;
}
- THREAD_START_WORK([this, nl]() {
+ thread_start_work(__FUNCTION__, [this, nl]() {
int32_t llfrpm = liquid_operation_runparam.zmotor_vmax;
int32_t pumpv = liquid_operation_runparam.pump_vmax;
@@ -578,9 +579,9 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t nl, int32_t times) {
int32_t PipetteModuleV2::pipette_clear_hanging_liquid(int32_t repeat_times) {
// llf_startz
// llf_endz
- thread_start_work(__FUNCTION__, [this, repeat_times]() {
-
- });
+ // thread_start_work(__FUNCTION__,[this, repeat_times]() {
+ //
+ // });
return 0;
}
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index 8b00705..a2c02ae 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -91,6 +91,7 @@ int32_t SMTP2V2::pump_put_tip() { return runaction(true, "/1E0R\r"); }
int32_t SMTP2V2::pump_init(int32_t v) { return runaction(true, "/1N2V%dZR\r", v * 319); }
int32_t SMTP2V2::pump_reset() {
_sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd
+ _sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd
return 0;
}
#if 0
@@ -288,6 +289,18 @@ int32_t SMTP2V2::pump_distribut_mlld_get_state(int32_t* detected) {
return ret;
}
+int32_t SMTP2V2::pump_set_back_clearance(int32_t val) {
+ int32_t ret = 0;
+ for (size_t i = 0; i < 3; i++) {
+ ret = setstate(true, "/1K%dR\r", val);
+ if (ret == 0) {
+ return ret;
+ }
+ osDelay(1);
+ }
+ return ret;
+}
+
/***********************************************************************************************************************
* 调试使用 *
***********************************************************************************************************************/
@@ -373,7 +386,7 @@ int32_t SMTP2V2::_runaction(bool dump, const char* cmd) {
for (size_t i = 0; i < 3; i++) {
if (i != 0) {
ZLOGE(TAG, "resend cmd .......................................................");
- osDelay(10);
+ osDelay(200);
}
if (!_sendcmd(dump, "/1T\r")) continue;
@@ -394,7 +407,7 @@ int32_t SMTP2V2::readstate(bool dump, const char* format, ...) {
if (_sendcmd(dump, cmdbuf)) {
return getAckEcode();
}
- osDelay(20);
+ osDelay(200);
}
return getAckEcode();
}
@@ -517,5 +530,11 @@ bool SMTP2V2::_sendcmd_dma(const char* cmd) {
if (m_rxbuf[m_rxNum - 1] != '\n' || m_rxbuf[m_rxNum - 2] != '\r' || m_rxbuf[m_rxNum - 3] != 3) {
return false;
}
+
+ if (getAckEcode() == err::kpipette_error_InvalidCmd) {
+ return false;
+ }
+
+ osDelay(10);
return true;
}
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
index e90441a..664158a 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp
@@ -170,6 +170,7 @@ class SMTP2V2 {
int32_t pump_set_io2_mode(int32_t mode); // 0通用输入 1紧急制动 2Tip脱落输出高 3Tip脱落输出低
int32_t pump_set_tip_size(int32_t size); // Tip大小 0:1ml 1:200ul(max:250ul) 2:50ul(max:62ul) 3=20ul(max:40ul)
int32_t pump_enable_temp_compensation(int32_t enable); // 0:关闭 1:开启
+ int32_t pump_set_back_clearance(int32_t val);
/***********************************************************************************************************************
* STATE *
@@ -217,6 +218,7 @@ class SMTP2V2 {
int32_t pump_aspirate_infer_eigen_time(int32_t v, int32_t ul);
int32_t pump_get_infer_eigen_time(int32_t* eigen_time);
+
public:
//
diff --git a/serial.bat b/serial.bat
new file mode 100644
index 0000000..e69de29
diff --git a/新建 文本文档.txt b/新建 文本文档.txt
new file mode 100644
index 0000000..e69de29